Systems and methods for LiDAR detection

ABSTRACT

Embodiments of the disclosure provide a LiDAR assembly. The LiDAR assembly includes a central LiDAR device configured to detect an object at or beyond a first predetermined distance from the LiDAR system and an even number of multiple auxiliary LiDAR devices configured to detect an object at or within a second predetermined distance from the LiDAR system. The LiDAR assembly also includes a mounting apparatus configured to mount the central and auxiliary LiDAR devices. Each of the central and auxiliary LiDAR devices is mounted to the mounting apparatus via a mounting surface. A first mounting surface between the central LiDAR device and the mounting apparatus has an angle with a second mounting surface between one of the auxiliary LiDAR devices and the mounting apparatus.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a continuation of U.S. patent application Ser. No.16/597,814, filed Oct. 9, 2019, which is a continuation of InternationalApplication No. PCT/CN2019/096858, filed Jul. 19, 2019, entitled“SYSTEMS AND METHODS FOR LIDAR DETECTION,” which claims priority toChinese Patent Application No. 201810800022.4, filed on Jul. 20, 2018,entitled “FIXING DEVICE FOR LASER RADAR SENSING SYSTEM,” and ChinesePatent Application No. 201810800008.4, filed on Jul. 20, 2018, entitled“LIDAR SENSING SYSTEM AND LIDAR SENSING SYSTEM DETECTING METHOD,” theentire contents of which are incorporated by reference.

TECHNICAL FIELD

The present disclosure relates to light detection and ranging (LiDAR)devices, and more particularly to, LiDAR detection using multipleauxiliary LiDAR devices to aid detections based on a specially designedmounting apparatus.

BACKGROUND

Autonomous driving technology relies heavily on navigation maps. Forexample, accuracy of navigation maps is critical to functions ofautonomous driving vehicles, such as positioning, ambience recognition,decision making, and control. LiDAR systems have been widely used inautonomous driving and producing such maps. For example, LiDAR systemsmeasure distance to a target by illuminating the target light laserlight and measuring the reflected light with a sensor. Differences inlaser return times and wavelengths can then be used to make digitalthree-dimensional (3D) representations of the target. The laser lightused for LiDAR scan may be ultraviolet, visible, or near infrared.Because using a narrow laser beam as the incident light from the scannercan map physical features with high resolution, a LiDAR system isparticularly suitable for applications such as sensing in autonomousdriving and map surveys.

A typical LiDAR system normally includes a rotating (scanning) part thatcan be used for emitting laser beams and receiving the reflected lightover a wide range of scanning angles, and a stationary part fixed to avehicle and used for providing control signals and power to the rotatingpart and receiving sensing signals obtained by the rotating part. Themore the laser beams the LiDAR system uses for scanning, the morethorough the LiDAR system can detect the surroundings. Typical LiDARsystems use a 32-beam LiDAR device for generating navigation maps to aidautonomous driving.

However, detection range and mapping accuracy of a single-LiDAR systemmay be limited by the physical characteristics of the LiDAR itself, suchas the mounting position of the LiDAR system with respect to the vehicleand the field of view of the LiDAR device. As a result, the single-LiDARsystem used with an autonomous driving vehicle may have blind spots inits detection range, and detection failure also occurs in someinstances.

Embodiments of the disclosure address the above problems by providingsystems and methods for LiDAR detection using multiple LiDAR devices.

SUMMARY

Embodiments of the disclosure provide a LiDAR assembly. The LiDARassembly includes a central LiDAR device configured to detect an objectat or beyond a first predetermined distance from the LiDAR system and aneven number of multiple auxiliary LiDAR devices configured to detect anobject at or within a second predetermined distance from the LiDARsystem. The LiDAR assembly also includes a mounting apparatus configuredto mount the central and auxiliary LiDAR devices. Each of the centraland auxiliary LiDAR devices is mounted to the mounting apparatus via amounting surface. A first mounting surface between the central LiDARdevice and the mounting apparatus has an angle with a second mountingsurface between one of the auxiliary LiDAR devices and the mountingapparatus.

Embodiments of the disclosure also provide a LiDAR system. The LiDARsystem includes a central LiDAR device configured to detect an object ator beyond a first predetermined distance from the LiDAR system and aneven number of multiple auxiliary LiDAR devices configured to detect anobject at or within a second predetermined distance from the LiDARsystem. The LiDAR system further includes a processor. The processor isconfigured to synchronize the central LiDAR device and at least one ofthe multiple auxiliary LiDAR devices for acquiring data frames. Theprocessor is also configured to combine a first data frame acquired bythe central LiDAR device with at least one of a plurality of second dataframes acquired by the multiple auxiliary LiDAR devices, thus generatinga first combined data frame. The processor is further configured toidentify a first target object from the first combined data frame.

Embodiments of the disclosure also provide a method for detection by aLiDAR system. The method includes providing a central LiDAR deviceconfigured to detect an object at or beyond a first predetermineddistance from the LiDAR system and an even number of multiple auxiliaryLiDAR devices configured to detect an object at or within a secondpredetermined distance from the LiDAR system. The method also includessynchronizing the central LiDAR device and at least one of the multipleauxiliary LiDAR devices for acquiring data frames. The method furtherincludes receiving, by the central LiDAR device, a first data frame andreceiving, by the multiple auxiliary LiDAR devices, a plurality ofsecond data frames. The method further includes combining the first dataframe and at least one of the plurality of second data frames. Themethod further includes generating a first combined frame andidentifying a target object from the first combined data frame.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory onlyand are not restrictive of the invention, as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a schematic diagram of an exemplary vehicle equippedwith a LiDAR sensing system, according to embodiments of the disclosure.

FIG. 2 illustrates a schematic diagram of an exemplary LiDAR devicelayout of a LiDAR system, according to embodiments of the disclosure.

FIG. 3 illustrates a schematic diagram of a main view of an exemplaryfield of view of a LiDAR system, according to embodiments of thedisclosure.

FIG. 4 illustrates a schematic diagram of a top view of an exemplaryfield of view of a LiDAR system, according to embodiments of thedisclosure.

FIG. 5 illustrates a block diagram of an exemplary system for LiDARdetection, according to embodiments of the disclosure.

FIG. 6 illustrates a schematic diagram of an exemplary mountingapparatus of the LiDAR assembly, according to embodiments of thedisclosure.

FIG. 7 illustrates a schematic diagram of an exemplary lower part of amounting apparatus of the LiDAR assembly, according to embodiments ofthe disclosure.

FIG. 8 illustrates a schematic diagram of an exemplary sensing devicebase of the base of the LiDAR assembly, according to embodiments of thedisclosure.

FIG. 9 illustrates a schematic diagram of an exemplary installer of theLiDAR assembly, according to embodiments of the disclosure.

FIG. 10 illustrates a schematic diagram of an exemplary dampingstructure of the LiDAR assembly, according to embodiments of thedisclosure.

FIG. 11 illustrates a schematic diagram of an exemplary wire fixingdevice of the LiDAR assembly, according to embodiments of thedisclosure.

FIG. 12 illustrates a flowchart of an exemplary method for detection bya LiDAR system, according to embodiments of the disclosure.

DETAILED DESCRIPTION

Reference will now be made in detail to the exemplary embodiments,examples of which are illustrated in the accompanying drawings. Whereverpossible, the same reference numbers will be used throughout thedrawings to refer to the same or like parts.

One way to solve the above problem is to increase the number of laserbeams to 64 or 128. Although the accuracy may be improved (e.g., byreducing the rate of detection failure and including more details in thegenerated navigation maps), the problem of undetectable areas (such asblind spots) still exists. Thus, it is challenging for the conventionalLiDAR systems or assemblies to meet the increasing demand for highquality high-definition maps used for autonomous driving or otherpurposes.

A different solution to the above problem is disclosed herein bycombining a plurality of LiDAR devices to cover more areas and toacquire more information of objects (e.g. road marks, curbs, trees,pedestrians, bicycles, vehicles, roadblocks, etc.) within the field ofview (FOV). The FOV of a LiDAR device is the extent of surrounding areasobservable by that LiDAR device. In some embodiments, a LiDAR FOV mayinclude a vertical FOV and a horizontal FOV. For example, the RS-RubyLiDAR designed by RoboSense™ has a 40-degree vertical FOV and a360-degree horizontal FOV. In order to control the cost and maximize thebenefit of combining multiple LiDAR devices for generating navigationmaps, embodiments of the present disclosure provide improved systems andmethods for combing multiple LiDAR devices to generate navigation mapsand, in most instances, high-definition maps.

According to some embodiments, the improved systems and methods maycombine a central LiDAR device and an even number (e.g., 2, 4, 6, 8 or2N, where N is a natural number) of multiple auxiliary LiDAR devices togenerate high-definition maps. The systems and methods may use thecentral LiDAR device to detect objects at or beyond a firstpredetermined distance from the LiDAR system, and may use the multipleauxiliary LiDAR devices to detect objects at or within a secondpredetermined distance from the LiDAR system. The improved systems andmethods may also combine the data frames acquired by the central LiDARdevice and the multiple auxiliary LiDAR devices using a fusion method.Also, to maximize the benefit of combining the LiDAR devices, thecentral LiDAR device and the multiple auxiliary LiDAR devices may bemounted on a specially designed mounting apparatus.

FIG. 1 illustrates a schematic diagram of an exemplary vehicle 100equipped with a LiDAR optical signal detection system 102 (or LiDARsystem 102 for simplicity), according to embodiments of the presentdisclosure. Consistent with some embodiments, vehicle 100 may be anautonomous driving vehicle or a survey vehicle configured for acquiringdata for constructing a high-definition map, 3D buildings, terrestrialfeatures, or city modeling.

As illustrated in FIG. 1 , vehicle 100 may be equipped with a LiDARassembly that includes LiDAR system 102 mounted to a body 104 via amounting apparatus 108. Mounting apparatus 108 may be a mechanical orelectro-mechanical structure installed or otherwise attached to body 104of vehicle 100.

It is contemplated that vehicle 100 may be an electric vehicle, a fuelcell vehicle, a hybrid vehicle, or a conventional internal combustionengine vehicle. Vehicle 100 may have a body and at least one wheel. Thebody may be any body style, such as a sports vehicle, a coupe, a sedan,a pick-up truck, a station wagon, a sports utility vehicle (SUV), aminivan, or a conversion van. In some embodiments, vehicle 100 mayinclude a pair of front wheels and a pair of rear wheels, as illustratedin FIG. 1 . However, it is contemplated that vehicle 100 may have moreor less wheels or equivalent structures that enable vehicle 100 to movearound. Vehicle 100 may be configured to be all wheel drive (AWD), frontwheel drive (FWD), or rear wheel drive (RWD). In some embodiments,vehicle 100 may be configured to be operated by an operator occupyingthe vehicle, remotely controlled, and/or autonomously.

As will be disclosed in detail below, mounting apparatus 108 may includespecially designed structures configured to mount LiDAR system 102.Vehicle 100 may be additionally equipped with a sensor 110 inside oroutside body 104 using any suitable mounting mechanisms. Sensor 110 mayinclude sensors used in a navigation unit, such as a Global PositioningSystem (GPS) receiver and one or more Inertial Measurement Unit (IMU)sensors. A GPS is a global navigation satellite system that providesgeolocation and time information to a GPS receiver. An IMU is anelectronic device that measures and provides a vehicle's specific force,angular rate, and sometimes the magnetic field surrounding the vehicle,using various inertial sensors, such as accelerometers and gyroscopes,sometimes also magnetometers. By combining the GPS receiver and the IMUsensor, sensor 110 can provide real-time location and pose informationof vehicle 100 as it travels, including the positions and orientations(e.g., Euler angles) or even speed of vehicle 100 at each time pointwhile traveling.

It is contemplated that the manners in which sensor 110 can be equippedon vehicle 100 are not limited by the example shown in FIG. 1 and may bemodified depending on the types of sensor 110 and/or types of vehicle100 to achieve the desirable sensing performance.

Consistent with some embodiments, LiDAR system 102 and sensor 110 may beconfigured to capture data as vehicle 100 moves along a trajectory. Forexample, LiDAR system 102 is configured to scan the surroundingenvironment and acquire data frames, which are used to generate pointclouds. LiDAR system 102 may include more than one LiDAR devices (whichwill be disclosed in detail below) configured to measure distance to atarget by illuminating the target with laser beams and measuring thereflected light with a receiver. The laser beams used by LiDAR system102 may be ultraviolet, visible, or near infrared. Because a narrowlaser beam can map physical features with very high resolution, LiDAR isparticularly suitable for high-definition map surveys. As vehicle 100moves along the trajectory, LiDAR system 102 may continuously capturedata. Each set of data captured within a certain time range is known asa data frame.

Consistent with the present disclosure, LiDAR system 102 and sensor 110may communicate with server 160. In some embodiments, server 160 may bea local physical server, a cloud server (as illustrated in FIG. 1 ), avirtual server, a distributed server, or any other suitable computingdevice. Consistent with the present disclosure, server 160 may storedata such as data frames collected by LiDAR system 102 or position andpose information collected by sensor 110.

Consistent with the present disclosure, server 160 may also be able tocombine the data frames captured by LiDAR system 102 based on methodssuch as a fusion algorithm or other suitable algorithms. Server 160 mayreceive sensor data, process the sensor data, construct localhigh-definition maps based on the sensor data, and/or updatehigh-definition maps based on the local high-definition maps. Server 160may communicate with LiDAR system 102 and sensor 110, and/or othercomponents of vehicle 100 via a network, such as a Wireless Local AreaNetwork (WLAN), a Wide Area Network (WAN), wireless networks such asradio waves, a cellular network, a satellite communication network,and/or a local or short-range wireless network (e.g., Bluetooth). Thecommunication may include receiving data from the one or more LiDARdevices in LiDAR system 102 and from sensor 110 which indicates variousroad conditions and/or objects in the surrounding environment. Thesedata can be used to generate point clouds and fusion images that allowthe vehicle to recognize these conditions and/or objects.

FIG. 2 illustrates a schematic diagram of an exemplary LiDAR devicelayout of a LiDAR system 102, according to embodiments of thedisclosure. In some embodiments, LiDAR system 102 may include, amongother things, a central LiDAR device, and an even number (e.g., 2, 4, 6,8 or 2N, where N is a natural number) of multiple auxiliary LiDARdevices. For example, as illustrated in FIG. 2 , LiDAR system 102 mayinclude a central LiDAR device 202, a first auxiliary LiDAR device 204,and a second auxiliary LiDAR device 206. It is contemplated that theexample of two auxiliary LiDAR devices in FIG. 2 is for illustrationpurposes only, and that the number of the multiple auxiliary LiDARdevices is not limited to 2. It is further contemplated that the exampleof one central LiDAR device in FIG. 2 is also for illustration purposesonly, and that the central LiDAR device may be formed by a cluster ofLiDAR devices (e.g. two or more LiDAR devices) that collectivelyfunction as one integrated central LiDAR device.

In some embodiments, central LiDAR device 202 may be configured todetect objects at or within a first predetermined distance from LiDARsystem 102. For example, the first predetermined distance from LiDARsystem 102 may be set as several meters (e.g., 2 meters, 5 meters, 10meters, 20 meters, 50 meters, or more). The detectable area anddetection flexibility of central LiDAR device 202 may be enhanced whenit is formed by a cluster of LiDAR devices. Each of the plurality ofLiDAR devices may be adjusted to function independently. Thus, if oneoperating LiDAR device cannot detect the environment with sufficientaccuracy, one or more LiDAR devices may be turned on to compensate thedetection result. In some embodiments, central LiDAR system 102 may beformed by a plurality of solid-state LiDAR devices that are rotationallydisposed along an axis, so that they may operate collectively to achievea 360-degree horizontal FOV of laser beam emission, which may imitate arotating mechanical central LiDAR device.

According to some embodiments, first and second auxiliary LiDAR devices204, 206 may be configured to detect objects at or within a secondpredetermined distance from LiDAR system 102. For example, the secondpredetermined distance from LiDAR system 102 may be set as severalmeters (e.g., 2 meters, 5 meters, 10 meters, 20 meters, 50 meters, ormore). Therefore, auxiliary LiDAR devices 204, 206 may be used toprimarily detect objects in the near-vehicle spaces that are nottypically reachable by central LiDAR device 202. In some embodiments,the farthest distance an auxiliary LiDAR device may detect an object arethe same among the multiple auxiliary LiDAR devices. In theseembodiments, the farthest distance of any auxiliary LiDAR device may bedefined as the second predetermined distance. In some other embodiments,the farthest distance an auxiliary LiDAR device may detect an objectdiffers among the multiple auxiliary LiDAR devices. In theseembodiments, the greatest of the farthest distances of all auxiliaryLiDAR devices may be defined as the second predetermined distance.

In some embodiments, the first and second predetermined distances may berespectively preset as a fixed value by an operator of LiDAR system 102before operating. Alternatively, each of these two values may beadjusted autonomously according to different needs or applications (suchas distinct road conditions). In other embodiments, the first and secondpredetermined distances may be determined based on the performance ofcentral LiDAR device 202 and first and second auxiliary LiDAR devices204, 206. As an example, the adjustment may be carried out by changingthe angle of which the LiDAR device(s) are mounted, and thus the anglesof projection of the adjusted LiDAR device(s) may be changedaccordingly.

According to some embodiments, the second predetermined distance may beequal to or greater than the first predetermined distance, such thatthere might be overlapping between the detectable areas of central LiDARdevice 202 and those of first and second auxiliary LiDAR devices 204,206. In these embodiments, no objects will be left undetected by theLiDAR system, thereby eliminating undesirable blind spots that exist inthe current LiDAR systems.

According to some further embodiments, the second predetermined distancemay be smaller than the first predetermined distance, so that the laserbeams emitted from the auxiliary LiDAR devices can be focused moredensely near the vehicle, thereby providing point clouds and navigationsmaps of higher definition than sparsely emitted laser beams which reachfarther distances.

In some embodiments, as illustrated in FIG. 2 , first auxiliary LiDARdevice 204 may be configured to detect the left side of LiDAR system 102and second auxiliary LiDAR device 206 may be configured to detect theright side of LiDAR system 102. It is further contemplated that when theeven number of the multiple auxiliary LiDAR devices is larger than two,a first half of them may work collectively in a manner similar to firstauxiliary device 204 as disclosed herein. The first half of the multipleauxiliary LiDAR devices may be mounted on the left side of central LiDARdevice 202 via a mounting apparatus (not shown in FIG. 2 ). Thus, theyare capable of detecting objects from the left side of LiDAR system 102at or within the second predetermined distance from LiDAR system 102.Similarly, a second half of the multiple auxiliary LiDAR devices maywork collectively in a manner similar to second auxiliary device 206 asdisclosed herein. The second half of the multiple auxiliary LiDARdevices may be mounted on the right side of central LiDAR device 202 viaa mounting apparatus (not shown in FIG. 2 ). Thus, they are capable ofdetecting objects from the right side of LiDAR system 102 and at orwithin the second predetermined distance from LiDAR system 102. Notably,first and second auxiliary LiDAR devices 204, 206 are only used forillustrative purpose and are not meant in any way to limit the number ofthe multiple auxiliary LiDAR devices to two.

In some embodiments, a central axis 201 of central LiDAR device 202 isorthogonal to a horizontal plane (e.g., a plane parallel to the sealevel). Central axis 201 may be a normal line that passes the center ofa bottom plane of central LiDAR device 202.

In some embodiments, one or more of the central LiDAR device and themultiple auxiliary LiDAR devices may be a multi-beam LiDAR device.Examples of a multi-beam LiDAR device may include 32-beam LiDAR device,64-beam LiDAR device, or 128-beam LiDAR device. In some otherembodiments, one or more of the central LiDAR device and the multipleauxiliary LiDAR devices may be versatile solid-state LiDAR devices orsolid-state LiDAR devices. In some further embodiments, one or more ofthe central LiDAR device and the multiple auxiliary LiDAR devices may beflash LiDAR devices. It is contemplated that any suitable type of LiDARdevices may be used as the central LiDAR device and/or the multipleauxiliary LiDAR devices.

In some embodiments, first auxiliary LiDAR device 204 is disposed ormounted on the left side of central LiDAR device 202 and secondauxiliary LiDAR device 206 is disposed or mounted on the right side ofcentral LiDAR device 202. A central axis of first auxiliary LiDAR device204 (e.g., the left-mounted auxiliary LiDAR device) is in a negativeangle with the central axis of central LiDAR device 202, and a centralaxis of second auxiliary LiDAR device 206 (e.g., the right-mountedauxiliary LiDAR device) is in a positive angle with the central axis ofcentral LiDAR device 202. The central axis of an auxiliary LiDAR devicemay be defined as a normal line that passes the center of a bottom planeof that auxiliary LiDAR device.

In the above-mentioned embodiments, whether an angle is negative orpositive is relatively defined with respect to the central axis ofcentral LiDAR device 202, as shown in FIG. 2 . A negative angle meansthe central axis of central LiDAR device 202 can be rotatedcounter-clockwise to coincide with the central axis of first auxiliaryLiDAR device 204. A positive angle means the central axis of centralLiDAR device 202 can be rotated clockwise to coincide with the centralaxis of second auxiliary LiDAR device 206.

In some embodiments, first and second auxiliary LiDAR devices 204, 206may be positioned at a same level (e.g. a plane that is parallel to thehorizontal plane). For example, the centers of the first and secondauxiliary LiDAR devices 204, 206 may be in the same horizontal plane(parallel to the seal level), which brings symmetry with respect to thedetectable areas by these two auxiliary LiDAR devices. However, it isnot required that the first and second auxiliary LiDAR devices 204, 206be positioned at the same level. In some other embodiments, centralLiDAR device 202 may not be positioned at the same level as first andsecond auxiliary LiDAR devices 204, 206. For example, the centers offirst and second auxiliary LiDAR devices 204, 206 may not be in the samehorizontal plane as the center of central LiDAR device 202.

FIG. 3 illustrates a schematic diagram of a main view of an exemplaryfield of view of a LiDAR system, according to embodiments of thedisclosure. The range of angles of projection (e.g., angles of laserbeams emitted by each of central LiDAR device 202 and first and secondauxiliary LiDAR devices 204, 206) can define the FOV of each LiDARdevice in which light is to be projected for detection or scanning of anobject. The FOV can also define the direction of incident lights,reflected by the object and detected by the receiver. As illustrated inFIG. 3 and from the perspective of the vehicle, a FOV 304 of firstauxiliary LiDAR device 204 covers the left side of LiDAR system 102 anda FOV 306 of second auxiliary LiDAR device 206 covers the right side ofLiDAR system 102. In some embodiments, FOV 304 is in symmetry with FOV306. The example illustrated in FIG. 3 demonstrates an example where thefirst predetermined distance of the central LiDAR device is greater thanthe second predetermined distance of the multiple auxiliary LiDARdevices. As discussed above, although not shown in FIG. 3 , the firstpredetermined distance can be equal to or smaller than the secondpredetermined distance according to other embodiments.

Take FOV 304 as an example. Because the central axis of first auxiliaryLiDAR device 204 has an angle (e.g., 20 degrees, 30 degrees, or 40degrees) with the horizontal plane (e.g., a plane parallel to the sealevel), FOV 304 may detect objects at or within a certain range (e.g.,the second predetermined distance from LiDAR system 102, as disclosedabove). Thus, the left-mounted auxiliary LiDAR devices may be configuredto detect objects on the left side of the LiDAR system, at or within thesecond predetermined distance from the LiDAR system. The same mechanismmay be applied to right-mounted auxiliary LiDAR devices for detectingobjects on the right side of the LiDAR system. In some furtherembodiments, the scan range of the multiple auxiliary LiDAR devices maybe set to collectively cover the entire surrounding of a survey vehicle(e.g., a combined 360-degree FOV), and the blind spots in front of orbehind the vehicle may thus be eliminated.

FIG. 4 illustrates a schematic diagram of a top view of an exemplaryfield of view of a LiDAR system, according to embodiments of thedisclosure. As illustrated in FIGS. 3 and 4 , a FOV 302 of the centralLiDAR device may cover objects at or beyond a certain range (e.g., thefirst predetermined distance from LiDAR system 102, as disclosed above).Thus, the central LiDAR device may be configured to detect objects at orbeyond the first predetermined distance from the LiDAR system. FOVs 304and 306 of the multiple auxiliary LiDAR devices may cover objects at orwithin a certain range (e.g., the second predetermined distance fromLiDAR system 102 as disclosed above). The multiple auxiliary LiDARdevices may be configured to detect objects at or within the secondpredetermined distance from the LiDAR system. In some embodiments, thereare overlapping between FOVs 302, 304 and 306, and FOVs 304 and 306 aredesigned to cover blind spots of FOV 302, for example, blind spots inthe near-front and near-back.

Because FOVs 302, 304 and 306, when combined together, can cover objectsat or within a certain range (e.g., the second predetermined distancefrom LiDAR system 102, as disclosed above) and objects at or beyond acertain range (e.g., the first predetermined distance from LiDAR system102, as disclosed above) with fewer or no blind spots, the detectionrange and accuracy of LiDAR system 102 can be increased. Moreover,because the multiple auxiliary LiDAR devices (e.g., first and secondauxiliary LiDAR devices 204, 206) may use a LiDAR device of lowersensitivity because of their auxiliary nature, the cost and the size ofLiDAR system 102 may be reduced while achieving better results ofdetection as compared to conventional LiDAR systems.

The LiDAR systems according to the present disclosure may use a server(e.g. server 160 shown in FIG. 1 ) to store data frames acquired by thecentral LiDAR device and the multiple auxiliary LiDAR devices. In someembodiments, the data frames may include and associate with one or moreobjects within the FOV of the LiDAR system (such as the combined FOV ofFOVs 302, 304 and 306). Consistent with the present disclosure, theserver may also be able to combine data frames acquired by the centralLiDAR device and the multiple auxiliary LiDAR devices, and identifyingtarget objects within the combined data frames. The server may generatemaps based on the combined data frames and locate the LiDAR systemwithin the generated maps. The server may receive data frames fromand/or send instructions to the central LiDAR device and the multipleauxiliary LiDAR devices. The types of instructions may include those forsynchronizing the central LiDAR device and the multiple auxiliary LiDARdevices. The server may communicate with the central LiDAR device andthe multiple auxiliary LiDAR devices, or other components of the vehicleto which the LiDAR assembly is mounted, as described above.

FIG. 5 illustrates a block diagram of an exemplary system 500 for LiDARdetection, according to embodiments of the disclosure. Consistent withthe present disclosure, system 500 may receive data frames 503 fromcentral LiDAR device 202 and multiple auxiliary LiDAR devices, as wellas location information and/or pose information 505 from sensor 110.Based on the data frames, system 500 may combine the data frames fromdifferent LiDAR devices and identify objects from the combined dataframes. System 500 may further generate maps based on the combined dataframes, and used the generated maps, along with location/poseinformation 505, to locate the LiDAR system 102 within the generatedmaps.

In some embodiments, system 500 may use a fusion algorithm to combinethe data frames from different LiDAR devices. For example, system 500may combine a first data frame acquired by the central LiDAR device withat least one of a plurality of second data frames acquired by themultiple auxiliary LiDAR devices (e.g., first and second auxiliary LiDARdevices 204, 206) by calibrating a relative position between the centralLiDAR device and the auxiliary LiDAR device that acquires the at leastone of the plurality of second data frames, and performing point cloudfusion of the first data frame and the at least one of the plurality ofsecond data frames. The identified objects may be road marks, curbs,trees, pedestrians, bicycles, vehicles, roadblocks, etc., which arewithin both the FOV of the central LiDAR device and the FOV of one ofthe auxiliary LiDAR devices.

In some embodiments, system 500 may have different modules in a singledevice, such as an integrated circuit (IC) chip (implemented as anapplication-specific integrated circuit (ASIC) or a field-programmablegate array (FPGA)), or separate devices with dedicated functions. Insome embodiments, one or more components of system 500 may be located ina cloud, or may be alternatively located in a single location (such asinside the vehicle or a mobile device) or distributed locations.Components of system 500 may be provided in an integrated device, ordistributed at different locations but communicate with each otherthrough a network (not shown).

In some embodiments, as shown in FIG. 5 , system 500 may include acommunication interface 502, a processor 504, a memory 506, and astorage 508. Communication interface 502 may send data to and receivedata from components of the LiDAR system, such as the central LiDARdevice, the multiple auxiliary LiDAR devices, and the sensor via anetwork. In some embodiments, communication interface 502 can be anintegrated services digital network (ISDN) card, cable modem, satellitemodem, or a modem to provide a data communication connection. As anotherexample, communication interface 502 can be a local area network (LAN)card to provide a data communication connection to a compatible LAN.Wireless links can also be implemented by communication interface 502.In such an implementation, communication interface 502 can send andreceive electrical, electromagnetic, or optical signals that carrydigital data streams representing various types of information via anetwork.

Consistent with some embodiments, communication interface 502 mayreceive data, such as data frames 503 captured by the central LiDARdevice and the multiple auxiliary LiDAR devices, as well aslocation/pose information 505 captured by sensor 110. Communicationinterface 502 may further provide the received data to storage 508 forstorage or to processor 504 for processing. Communication interface 502may also receive data generated by processor 504 and provide the data toany local component in the vehicle or any remote device via a network.In some embodiments, system 500 may perform data analysis with respectto the data received via communication interface 502, and discoverlines, patterns, colors, or other feature information in data frames503. In these scenarios, system 500 pay pull additional data from sensor110, such as video or camera images, that contains extra information forsubsequent fusion with point clouds.

Processor 504 may include any appropriate type of general-purpose orspecial-purpose microprocessor, digital signal processor, ormicrocontroller. Processor 504 may be configured as a separate processormodule dedicated to performing LiDAR detection related functions.Alternatively, processor 504 may be configured as a shared processormodule for performing other functions unrelated to LiDAR detection.

As shown in FIG. 5 , processor 504 may include multiple modules, such asa data frame combination unit 510, a map generation unit 512, apositioning unit 514, a sensing unit 516, and the like. These modules(and any corresponding sub-modules or sub-units) can be hardware units(e.g., portions of an integrated circuit) of processor 504 designed foruse with other components or software units implemented by processor 504through executing at least a part of a program. The program may bestored on a computer-readable medium, and when executed by processor504, it may perform one or more functions. Although FIG. 5 shows units510, 512, 514, 516 all within one processor 504, it is contemplated thatthese units may be distributed among multiple processors located near orremotely with each other. For example, modules related to constructing,updating maps, or positioning (such as data frame combination unit 510,map generation unit 512, positioning unit 514, etc.) may be within aprocessor on the vehicle. Modules related to object identification (suchas a sensing unit 516) may be within a processor on a remote server.

In some embodiments, data frame combination unit 510 may further includea multi-LiDAR synchronization module (not shown in FIG. 5 ) configuredto synchronize the central LiDAR device and the multiple auxiliary LiDARdevices for acquiring data frames. For example, the multi-LiDARsynchronization module may set up a time point when the central LiDARdevice and the multiple auxiliary LiDAR devices may start to scansimultaneously based on one or more calibration parameters associatedwith the central LiDAR device and the multiple auxiliary LiDAR devices.In other embodiments, the multi-LiDAR synchronization module may insteadbe an individual module inside the vehicle, in a mobile device, orotherwise located remotely from processor 504. For example, remote LiDARdevice synchronization may be used to synchronize the multiple LiDARdevices such that they may start to scan at the same time point or matcheach other's scanning pattern.

System 500 may send the instruction including the synchronizinginstruction to the central LiDAR device and multiple auxiliary LiDARdevices using communication interface 502. System 500 may then receive afirst data frame corresponding to one or more objects at or beyond afirst predetermined distance from the central LiDAR device and aplurality of second data frames corresponding to one or more objects ator within a second predetermined from the multiple auxiliary LiDARdevices.

In some embodiments, data frame combination unit 510 may then use acombining process to combine the first data frame and at least one ofthe plurality of second data frames. The result of this combination maybe called the first combined data frame. In some embodiments, data framecombination unit 510 may further include a calibration fusion module(not shown in FIG. 5 ) configured to calibrate a relative positionbetween the central LiDAR device and one or more of the multipleauxiliary LiDAR devices. The calibration fusion module may further applya fusion algorithm to a first data frame from the central LiDAR deviceand a second data frame from one or more of the auxiliary LiDAR devices.

In some other embodiments, data frame combination unit 510 may also usethe same combining process to combine one second data frame acquired byan auxiliary LiDAR device mounted on the left side of the central LiDARdevice, with another second data frame acquired by an auxiliary LiDARdevice mounted on the right side of the central LiDAR device. The resultof this combination may be called the second combined data frame.

In some further embodiments where the number of auxiliary LiDAR devicesmounted on one side of the central LiDAR device is equal to or largerthan two, the data frame combination unit 510 may also use the samecombining process to combine two or more second data frames acquiredrespectively by two or more auxiliary LiDAR device mounted on the sameside (left or right) of the central LiDAR device. The result of thiscombination may be called the third combined data frame, which may betreated similarly as the second combined data frame with respect tosubsequent processing (including calibration, fusion, positioning, andsensing).

According to some embodiments consistent with the current disclosure,when practicing the fusion algorithm, data frame combination unit 510may first find and match a common object (e.g., road marks, curbs,trees, pedestrians, bicycles, vehicles, roadblocks, etc.) shared by thefirst data frame and at least one second data frame, then match thecommon object shared by the first data frame and the at least one seconddata frame by coinciding the common objects using parallel or rotationalmovements. For example, data frame combination unit 510 may identifyobjects within the first data frame and the plurality of second dataframes and search for any common object shared by the first and theplurality of second data frames. Data frame combination unit 510 maythen record the parallel or rotational movements and calculate arelative position between the central LiDAR device and the auxiliaryLiDAR device that captured the at least one second data frame. Dataframe combination unit 510 may then transform the at least one seconddata frame to the coordinate of the first data frame based on therelative position and combine the first data frame and the at least onesecond data frame to form a combined data frame (e.g., a point cloud).

Map generation unit 512 may be configured to generate maps (e.g.,high-definition maps) based on one or more combined data frames,including the first combined data frame and the second combined dataframe. For example, 3-D representation of an object within the FOV ofthe LiDAR devices may be generated based on the point cloud data (e.g.,the combined data frames). Map generation unit 512 may then position the3-D representations of the object to form a map based on their relativepositions according to the combined data frames.

Positioning unit 514 may be configured to locate LiDAR system 102 withinthe generated map. For example, system 500 may use the location/poseinformation 505 based on data received from sensor 110 throughcommunication interface 502 as the location of the LiDAR system 102 andlocate LiDAR system 102 in the generated maps (e.g., position LiDARsystem 102 in the coordinates of the data frames collected by thecentral LiDAR device) based on the received location.

Sensing unit 516 may be configured to identify one or more targetobjects within the generated maps. For example, data frame combinationunit 510 may be configured to combine a second data frame acquired by aleft-mounted auxiliary LiDAR device (e.g., first auxiliary LiDAR device204) with another second data frame acquired by a right-mountedauxiliary LiDAR device (e.g., second auxiliary LiDAR device 206) basedon matching a common object shared by the two second data frames, thusgenerating a second combined frame in a similar manner as the generationof the first combined data frame. Sensing unit 516 may then identify atarget object based on both the first combined data frame and the secondcombined data frame.

Memory 506 and storage 508 may include any appropriate type of massstorage provided to store any type of information that processor 504 mayneed to operate. Memory 506 and storage 508 may be a volatile ornon-volatile, magnetic, semiconductor, tape, optical, removable,non-removable, or other type of storage device or tangible (i.e.,non-transitory) computer-readable medium including, but not limited to,a read-only memory (ROM), a flash memory, a dynamic random access memory(RAM), and a static RAM. Memory 506 and/or storage 508 may be configuredto store one or more computer programs that may be executed by processor504 to perform LiDAR detection related functions disclosed herein. Forexample, memory 506 and/or storage 508 may be configured to storeprogram(s) that may be executed by processor 504 to combine data frames,generate maps or identify objects.

Memory 506 and/or storage 508 may be further configured to storeinformation and data used by processor 504. For instance, memory 506and/or storage 508 may be configured to store the various types of data(e.g., data frames, location/pose information, etc.) captured by thecentral LiDAR device and the multiple auxiliary LiDAR devices. Memory506 and/or storage 508 may also be configured to store the generatedmaps. Memory 506 and/or storage 508 may also store intermediate datasuch as machine learning models, features extracted from point clouds(e.g., combined data frames), calculated confidences, and intermediatemaps, etc. The various types of data may be stored permanently, removedperiodically, or disregarded immediately after each frame of data isprocessed.

FIG. 6 illustrates a schematic diagram of an exemplary mountingapparatus of the LiDAR assembly, according to embodiments of thedisclosure. In some embodiments, LiDAR system 102 may be mounted on amounting apparatus 600. The mounting position of LiDAR devices (e.g.,central LiDAR device 202 and multiple auxiliary LiDAR devices 204, 206)may be adjusted such that the relative position between each of theLiDAR devices, the relative position between any LiDAR device and thehorizontal plane (e.g., a plane parallel to the sea level), and the FOVof each of the LiDAR devices are all adjustable. The adjustments may bemade to accommodate different types of survey vehicle, different roadconditions, and different driving requirement (e.g., the complication ofthe road condition, or the maximized driving speed of the vehicle). Inthis way, the overall cost of the LiDAR system will be reduced, and theadaptability of the LiDAR system will be increased.

In some embodiments, mounting apparatus 600 may include an upper part602, a lower part 604, a base 606, an installer 608, a damping structure610 and a wire-fixing device 612. As illustrated in FIG. 6 , upper part602 is disposed on the upside of lower part 604, and base 606 isdisposed on both right and left sides of lower part 604. In someembodiments, upper part 602 is configured to mount the central LiDARdevice and lower part 604 is configured to mount the multiple auxiliaryLiDAR device. In some other embodiments, a base 606 is configured to bemounted to the lower part, and one or more of the multiple auxiliaryLiDAR devices are mounted to the base.

According to some embodiments consistent with the current disclosure, afirst mounting surface between the central LiDAR device and upper part602 of mounting apparatus 600 has an angle with at least a secondmounting surface between one of the multiple auxiliary LiDAR devices andbase 606 of mounting apparatus 600. The angle may be non-zero. Becauseof the existence of the angle, the detectable area of the central LiDARdevice may be distinguishable from that of the one auxiliary LiDARdevice, both of which may thus be used for different purposes orapplications.

FIG. 7 illustrates a schematic diagram of an exemplary lower part 604 ofmounting apparatus 600 of the LiDAR assembly, according to embodimentsof the disclosure. As illustrated in FIG. 7 , lower part 604 may includea frame shell 702 and a bottom plate assembly 704. In some embodiments,frame shell 702 and bottom plate assembly 704 may be configured to forma cavity configured to receive wires and other accessory equipment. Insome embodiments, bottom plate assembly 704 may include a left board706, a middle board 708, and a right board 710. Left board 706 and rightboard 710 are disposed on the bottom of frame shell 702. Middle board708 may be detachable to frame shell 702. A U-shaped plate 712 may bedisposed on middle board 708, and a protective pad 714 may be disposedon U-shaped plate 712. Accessory equipment such as sensing systems andthe corresponding wires may be disposed in the cavity formed by frameshell 702 and bottom plate assembly 704 so that the system may be keptconcise. Middle board 708 may be detachable such that the system may beeasy to setup and install. U-shaped plate 712 and protective pad 714 maybe disposed to allow a wire to go through while protecting the wire frombeing cut by the edge of middle board 708 which may otherwise causemalfunctions of the electronic system.

FIG. 8 illustrates a schematic diagram of an exemplary base 606 of theLiDAR assembly, according to embodiments of the disclosure. In someembodiments, base 606 may include two or more similar or identicalstructures, such as LiDAR device bases for mounting the multipleauxiliary LiDAR devices (e.g., a first LiDAR device base for mountingfirst auxiliary LiDAR device 204 and a second LiDAR device base formounting second auxiliary LiDAR device 206). As illustrated in FIG. 8 ,a LiDAR device base may include a LiDAR device holder 802 and a frame804. In some embodiments, frame 804 may be disposed on an upper surfaceof lower part 604, and sensing device holder 802 may be adjustablyconnected to frame 804 through at least one fastener 806. Sensing deviceholder 802 may rotate around frame 804. When being adjusted to a workingposition, the relative position of sensing device holder 802 is lockedto frame 804 by at least one fastener 806. In some embodiments, theworking angle of each of the multiple LiDAR device bases may be adjustedto alter their respective angles of projection, such that the LiDARsystem may be applied to perform detections in different scenarios withdifferent detection range.

FIG. 9 illustrates a schematic diagram of an exemplary installer 608 ofthe LiDAR assembly, according to embodiments of the disclosure. Asillustrated in FIG. 9 , installer 608 may include a Z-frame 902, aconnector 904, and a hook 906. In some embodiments, a first end ofZ-frame 902 is connected to lower part 604 of the mounting apparatus. Asecond end of Z-frame 902 opposite to the first end of Z-frame 902 isconnected to connector 904. Connector 904 is connected to hook 906. Forexample, as illustrated in FIG. 9 , Z-frame 902 may include an erectedplate 908, an upper lateral plate 910, and a lower lateral plate 912.The upper and lower lateral plates 910, 912 may be perpendicular toerected plate 908. Upper lateral plate 910 is connected to lower part604. Lower lateral plate 912 is connected to connector 904.

In some embodiments, connector 904 may further include a U-shaped plate914, a movable block 916, and a fixed block 918. Movable block 916 isconnected to fixed block 918. In some embodiments, U-shaped plate 914and movable block 916 include a plurality of positioning holes 920 wherea relative position of U-shaped plate 914 and movable block 916 isadjusted by alignment pins passing through the plurality of positioningholes 920 disposed on U-shaped plate 914 and movable block 916respectively. In some embodiments, a first end of hook 906 is connectedto movable block 916 through an adjusting screw rod 922, and fixed block918 clamps hook 906 to limit its position.

When installed on a survey vehicle (e.g., vehicle 100), one end of hook906 is connected to movable block 916. Fixed block 918 may gauge andpress one end of hook 906. The other end of hook 906 extend to and hookon a top of the survey vehicle. Movable block 916 move to U-shaped plate914. As a result, the corresponding plurality of the positioning holes920 disposed on U-shaped plate 914 and movable block 916 respectivelywould be locked by alignment pins passing through them. Screw rod 922may be used to fine-tune the position of hook 906 to increasereliability of the system.

FIG. 10 illustrates a schematic diagram of an exemplary dampingstructure 610 of the LiDAR assembly, according to embodiments of thedisclosure. As illustrated in FIG. 10 , damping structure 610 mayinclude a damper 1002, an upper skirt 1004, and a lower skirt 1006.Upper skirt 1004 is connected to lower part 604 of mounting apparatus600. Lower skirt 1006 is tilted outward and connected to a body of thesurvey vehicle (e.g., vehicle 100). In some embodiments, an innersurface of upper skirt 1004 includes steps 1008 for contact with bothends of lower part 604 of mounting apparatus 600. In some embodiments, aplatform 1010 configured to install installer 608 is disposed on anupper surface of damper 1002. A slope 1012 configured to extend hook 906is disposed on one side of platform 1010. In some embodiments, dampingstructure 610 may be configured to connect lower part 604 and the surveyvehicle (e.g., vehicle 100). For example, both sides of lower part 604may be disposed on steps 1008 of damping structure 610 such that theLiDAR assembly may still work stably and ensure a good detectionperformance when experiencing bumping road conditions. Meanwhile, upperskirt 1004 and lower skirt 1006 may be used to compensate assemblyclearance caused by the difference between different modes of vehicles.

FIG. 11 illustrates a schematic diagram of an exemplary wire-fixingdevice 612 of the LiDAR assembly, according to embodiments of thedisclosure. As illustrated in FIG. 11 , wire-fixing device 612 mayinclude a pressing piece 1102, a wire protection buckle 1104, and awaterproof pad 1106. In some embodiments, waterproof pad 1106 and wireprotection buckle 1104 are disposed in sequence on a wire of the LiDARassembly. After being pressed to wire protection buckle 1104, pressingpiece 1102 is disposed on lower part 604 of mounting apparatus 600.

FIG. 12 illustrates a flowchart of an exemplary method 1200 fordetection by a LiDAR system, according to embodiments of the disclosure.In some embodiments, method 1200 may be implemented by LiDAR system 102combined with system 500 that includes, among other things, a memory 506and a processor 504 that performs various operations. It is to beappreciated that some of the steps may be optional to perform thedisclosure provided herein, and that some steps may be inserted in theflowchart of method 1200 that are consistent with other embodimentsaccording to the current disclosure. Further, some of the steps may beperformed simultaneously, or in an order different from that shown inFIG. 12 .

Consistent with some embodiments, in step S1202, a server maysynchronize a central LiDAR device and multiple auxiliary LiDAR devicesfor acquiring data frames. For example, the server may set up a timepoint when the central LiDAR device and the multiple auxiliary LiDARdevices may start to scan simultaneously based on one or morecalibration parameters associated with the central LiDAR device and themultiple auxiliary LiDAR devices. For example, a LiDAR devicesynchronization method may be used to synchronize LiDAR devices suchthat they may start to scan at the same time point or match each other'sscanning pattern.

In steps S1204 and S1206, the server may receive data such as dataframes captured by the central LiDAR device and the multiple auxiliaryLiDAR devices, as well as location/pose information captured by asensor. For example, the server may receive a first data framecorresponding to an object at or beyond a first predetermined distancefrom the central LiDAR device and a plurality of second data framescorresponding an object at or within a second predetermined frommultiple auxiliary LiDAR devices.

In step S1208, the server may use a combining process to combine thefirst data frame and at least one of the plurality of second dataframes. In some embodiments, it may calibrate a relative positionbetween the central LiDAR device and one or more of the multipleauxiliary LiDAR device. It may further use a fusion algorithm withrespect to a first data frame from the central LiDAR device and a seconddata frame from one or more of the auxiliary LiDAR devices. The servermay also use the same combining process to combine one second data frameacquired by an auxiliary LiDAR device mounted on the left side of thecentral LiDAR device, with another second data frame acquired by anauxiliary LiDAR device mounted on the right side of the central LiDARdevice. When practicing the fusion algorithm, the server may first findand match a common object (e.g., road marks, curbs, trees, pedestrians,bicycles, vehicles, roadblocks, etc.) shared by the first data frame andthe at least one second data frame, then match the common object sharedby the first data frame and the at least one second data frame bycoinciding the comment object using parallel or rotational movements.

In some embodiments, the server may position objects within the firstdata frame and the plurality of second data frames and search for thecommon object shared by the first data frame and the plurality of seconddata frames. The server may then record the parallel or rotationalmovements and calculate a relative position between the central LiDARdevice and the auxiliary LiDAR device that captured the at least onesecond data frame. The server may then transform the at least one seconddata frame to the coordinate of the first data frame based on therelative position and combine the first data frame and the at least onesecond data frame to from a combined data frame (e.g., a point cloud).

In step S1210, the server may be configured to identify a target objectwithin the combined data frame(s). In some other embodiments, the servermay be configured to combine a second data frame acquired by aleft-mounted auxiliary LiDAR device with another second data frameacquired by a right-mounted auxiliary LiDAR device based on matching acommon object shared by the two second data frames and generate a secondcombined frame in a similar manner as generation of the first combineddata frame. The server may then identify a target object based on boththe first combined data frame and the second combined data frame.

In step S1212, the server may generate a map (e.g., a high-definitionmap) based on the combined data frame. For example, 3-D representationsof an object within the FOV of the LiDAR system may be generated basedon the point cloud data (e.g., the combined data frames). The server maythen position the 3-D representation of the object to form a map basedon their relative position according to the data frames combined in stepS1208.

In step S1214, the server may be configured to locate the LiDAR systemwithin the generated map. For example, the server may use location/poseinformation of the LiDAR system based on data received from the sensoras location of the LiDAR system and locate the LiDAR system in thegenerated maps (e.g., position LiDAR system in the coordinates of thedata frames collected by the central LiDAR device).

Another aspect of the disclosure is directed to a non-transitorycomputer-readable medium storing instruction which, when executed, causeone or more processors to perform the methods, as discussed above. Thecomputer-readable medium may include volatile or non-volatile, magnetic,semiconductor, tape, optical, removable, non-removable, or other typesof computer-readable medium or computer-readable storage devices. Forexample, the computer-readable medium may be the storage device or thememory module having the computer instructions stored thereon, asdisclosed. In some embodiments, the computer-readable medium may be adisc or a flash drive having the computer instructions stored thereon.

It will be apparent to those skilled in the art that variousmodifications and variations can be made to the disclosed system andrelated methods. Other embodiments will be apparent to those skilled inthe art from consideration of the specification and practice of thedisclosed system and related methods.

It is intended that the specification and examples be considered asexemplary only, with a true scope being indicated by the followingclaims and their equivalents.

What is claimed is:
 1. A LiDAR system, comprising: a central LiDARdevice configured to detect an object at or beyond a first predetermineddistance from the LiDAR system; an even number of multiple auxiliaryLiDAR devices configured to detect an object at or within a secondpredetermined distance from the LiDAR system; a mounting apparatusconfigured to mount the central LiDAR device and the auxiliary LiDARdevices, wherein: the central LiDAR device is mounted to the mountingapparatus on a first mounting surface of an upper part of the mountingapparatus, and each of the auxiliary LiDAR devices is mounted, via abase, to the mounting apparatus on a second mounting surface of a lowerpart of the mounting apparatus; the base comprises a first LiDAR devicebase and a second LiDAR device base, each of the first and second LiDARdevice bases comprises a LiDAR device holder and a frame disposed on anend of an upper surface of the lower part of the mounting apparatus, andeach LiDAR device holder of the first and second LiDAR device bases isadjustably connected to each frame of the first and second LiDAR devicebases; and the first mounting surface and the second mounting surfaceform an angle, and the upper part and the lower part are at differentheights in the mounting apparatus; and a processor configured to:synchronize the central LiDAR device and at least one of the auxiliaryLiDAR devices for acquiring data frames, wherein the processor isconfigured to synchronize the central LiDAR device and the at least oneof the auxiliary LiDAR devices by configuring the central LiDAR deviceand the at least one of the auxiliary LiDAR devices to start to scan ata same time or to match each other's scanning pattern; combine a firstdata frame acquired by the central LiDAR device with at least one of aplurality of second data frames acquired by the auxiliary LiDAR devices,generating a first combined data frame; and identify a first targetobject from the first combined data frame.
 2. The LiDAR system of claim1, further comprising: a sensor providing a location of the LiDARsystem, wherein the processor is further configured to: generate a firstmap based on the first combined data frame, and locate, by using thelocation provided from the sensor, the LiDAR system within the firstmap.
 3. The LiDAR system of claim 2, wherein the processor is furtherconfigured to combine the first data frame with the at least one of theplurality of second data frames by: calibrating a relative positionbetween the central LiDAR device and the auxiliary LiDAR devices thatacquire the at least one of the plurality of second data frames, andperforming point cloud fusion of the first data frame and the at leastone of the plurality of second data frames.
 4. The LiDAR system of claim1, wherein the auxiliary LiDAR devices comprise at least oneleft-mounted auxiliary LiDAR device mounted on a left side of thecentral LiDAR device and at least one right-mounted auxiliary LiDARdevice mounted on a right side of the central LiDAR device, wherein theplurality of second data frames comprises one second data frame acquiredby the left-mounted auxiliary LiDAR device and another second data frameacquired by the right-mounted auxiliary LiDAR device, and wherein theprocessor is further configured to combine the second data frame withthe other second data frame to generate a second combined data frame. 5.The LiDAR system of claim 4, wherein the processor is further configuredto identify the first target object from the first combined data frameand the second combined data frame.
 6. The LiDAR system of claim 1,wherein the auxiliary LiDAR devices comprise at least two left-mountedauxiliary LiDAR devices mounted on a left side of the central LiDARdevice and at least two right-mounted auxiliary LiDAR devices mounted ona right side of the central LiDAR device, wherein the plurality ofsecond data frames comprises two or more second data frames acquired bythe left-mounted auxiliary LiDAR devices and another two or more seconddata frames acquired by the right-mounted auxiliary LiDAR devices, andwherein the processor is further configured to combine the two or moresecond data frames acquired by the left-mounted auxiliary LiDAR deviceswith one another to form one third combined data frame, and theprocessor is further configured to combine the two or more second dataframes acquired by the right-mounted auxiliary LiDAR devices with oneanother to form another third combined data frame.
 7. The LiDAR systemof claim 6, wherein the processor is further configured to identify thefirst target object from the first combined data frame, the thirdcombined data frame, and the other third combined data frame.
 8. TheLiDAR system of claim 1, wherein the first mounting surface between thecentral LiDAR device and the mounting apparatus has the angle with thesecond mounting surface between each of the auxiliary LiDAR devices andthe mounting apparatus, wherein the mounting apparatus further comprisesthe upper part configured to mount the central LiDAR device, and thelower part configured to mount each of the multiple auxiliary LiDARdevices, wherein each LiDAR device holder of the first and second LiDARdevice bases is adjustably connected to each frame of the first andsecond LiDAR device bases through at least one fastener.
 9. The LiDARsystem of claim 8, wherein a central axis of the central LiDAR device isorthogonal to a horizontal plane, and wherein the central axis of thecentral LiDAR device is a normal line that passes a center of a bottomplane of the central LiDAR device.
 10. The LiDAR system of claim 9,wherein a first half of the even number of multiple auxiliary LiDARdevices are mounted on a left side of the central LiDAR device withrespect to the central axis, and the other half of the even number ofmultiple auxiliary LiDAR devices are mounted on a right side of thecentral LiDAR device with respect to the central axis, wherein a centralaxis of one of the auxiliary LiDAR devices on the left side is in anegative angle with the central axis of the central LiDAR device, and acentral axis of one of the auxiliary LiDAR devices on the right side isin a positive angle with the central axis of the central LiDAR device,and wherein the central axis of each auxiliary LiDAR device is a normalline that passes a center of a bottom plane of the auxiliary LiDARdevice.
 11. The LiDAR system of claim 8, wherein the mounting apparatusfurther comprises a Z-frame, a connector, and a hook, wherein a firstend of the Z-frame is connected to the lower part of the mountingapparatus, wherein a second end of the Z-frame opposite to the first endof the Z-frame is connected to the connector, and wherein the connectoris connected to the hook.
 12. The LiDAR system of claim 1, wherein thefirst mounting surface between the central LiDAR device and the mountingapparatus has the angle with the second mounting surface between each ofthe auxiliary LiDAR devices and the mounting apparatus, wherein themounting apparatus further comprises the upper part configured to mountthe central LiDAR device, and the lower part configured to mount each ofthe multiple auxiliary LiDAR devices, wherein the mounting apparatusfurther comprises a damping structure that comprises a damper, an upperskirt, and a lower skirt, wherein the upper skirt is connected to thelower part of the mounting apparatus, and wherein the lower skirt istilted outward and connected to a body of a vehicle.
 13. The LiDARsystem of claim 12, wherein an inner surface of the upper skirt includessteps configured to contact both ends of the lower part of the mountingapparatus.
 14. The LiDAR system of claim 1, wherein the first mountingsurface between the central LiDAR device and the mounting apparatus hasthe angle with the second mounting surface between each of the auxiliaryLiDAR devices and the mounting apparatus, wherein the mounting apparatusfurther comprises the upper part configured to mount the central LiDARdevice, and the lower part configured to mount each of the multipleauxiliary LiDAR devices, wherein the lower part of the mountingapparatus further comprises a frame shell and a bottom plate assembly,and wherein the frame shell and the bottom plate assembly are configuredto form a cavity configured to receive wires and accessory equipment.15. The LiDAR system of claim 1, wherein the first mounting surfacebetween the central LiDAR device and the mounting apparatus has theangle with the second mounting surface between each of the auxiliaryLiDAR devices and the mounting apparatus, wherein the mounting apparatusfurther comprises the upper part configured to mount the central LiDARdevice, and the lower part configured to mount each of the multipleauxiliary LiDAR devices, wherein the mounting apparatus furthercomprises a wire-fixing device that comprises a pressing piece, a wireprotection buckle, and a waterproof pad, wherein the waterproof pad andthe wire protection buckle are disposed in sequence on a wire of theLiDAR system, and wherein the pressing piece is disposed on the lowerpart of the mounting apparatus.
 16. A method for detection by a LiDARsystem, comprising: synchronizing a central LiDAR device configured todetect an object at or beyond a first predetermined distance from theLiDAR system, and at least one of an even number of multiple auxiliaryLiDAR devices configured to detect an object at or within a secondpredetermined distance from the LiDAR system, wherein: the synchronizingcomprises configuring the central LiDAR device and the at least one ofthe auxiliary LiDAR devices to start to scan at a same time or to matcheach other's scanning pattern; the LiDAR system comprises a mountingapparatus configured to mount the central LiDAR device and the auxiliaryLiDAR devices; the central LiDAR device is mounted to the mountingapparatus on a first mounting surface of an upper part of the mountingapparatus, and each of the auxiliary LiDAR devices is mounted, via abase, to the mounting apparatus on a second mounting surface of a lowerpart of the mounting apparatus; the base comprises a first LiDAR devicebase and a second LiDAR device base, each of the first and second LiDARdevice bases comprises a LiDAR device holder and a frame disposed on anend of an upper surface of the lower part of the mounting apparatus, andeach LiDAR device holder of the first and second LiDAR device bases isadjustably connected to each frame of the first and second LiDAR devicebases; and the first mounting surface and the second mounting surfaceform an angle, and the upper part and the lower part are at differentheights in the mounting apparatus; receiving, by the central LiDARdevice, a first data frame; receiving, by the auxiliary LiDAR devices, aplurality of second data frames; combining, by a processor, the firstdata frame and at least one of the plurality of second data frames;generating, by the processor, a first combined data frame; andidentifying, by the processor, a first target object from the firstcombined data frame.
 17. The method of claim 16, wherein the LiDARsystem further comprises: a sensor providing a location of the LiDARsystem, the method further comprising: generating, by the processor, afirst map based on the first combined data frame, and locating, by theprocessor using the location provided from the sensor, the LiDAR systemwithin the first map.
 18. The method of claim 16, wherein the combiningthe first data frame with the at least one of the plurality of seconddata frames comprises: calibrating a relative position between thecentral LiDAR device and the auxiliary LiDAR devices that acquire the atleast one of the plurality of second data frames, and performing pointcloud fusion of the first data frame and the at least one of theplurality of second data frames.
 19. The method of claim 16, wherein theauxiliary LiDAR devices comprise at least one left-mounted auxiliaryLiDAR device mounted on a left side of the central LiDAR device and atleast one right-mounted auxiliary LiDAR device mounted on a right sideof the central LiDAR device, wherein the plurality of second data framescomprises one second data frame acquired by the left-mounted auxiliaryLiDAR device and another second data frame acquired by the right-mountedauxiliary LiDAR device, the method further comprising: combining, by theprocessor, the second data frame with the other second data frame togenerate a second combined data frame, wherein the identifying the firsttarget object comprises identifying the first target object from thefirst combined data frame and the second combined data frame.
 20. ALiDAR system, comprising: a central LiDAR device configured to detect anobject at or beyond a first predetermined distance from the LiDARsystem; an even number of multiple auxiliary LiDAR devices configured todetect an object at or within a second predetermined distance from theLiDAR system; a mounting apparatus configured to mount the central LiDARdevice and the auxiliary LiDAR devices, wherein: the central LiDARdevice is mounted to the mounting apparatus on a first mounting surfaceof an upper part of the mounting apparatus, and each of the auxiliaryLiDAR devices is mounted, via a base, to the mounting apparatus on asecond mounting surface of a lower part of the mounting apparatus; thebase comprises a first LiDAR device base and a second LiDAR device base,each of the first and second LiDAR device bases comprises a LiDAR deviceholder and a frame disposed on an end of an upper surface of the lowerpart of the mounting apparatus, and each LiDAR device holder of thefirst and second LiDAR device bases is adjustably connected to eachframe of the first and second LiDAR device bases; and the first mountingsurface and the second mounting surface form an angle; and a processorconfigured to: synchronize the central LiDAR device and at least one ofthe auxiliary LiDAR devices for acquiring data frames; combine a firstdata frame acquired by the central LiDAR device with at least one of aplurality of second data frames acquired by the auxiliary LiDAR devicesto generate a first combined data frame; and identify a first targetobject from the first combined data frame.